面向方位历程交叉场景的多目标检测前跟踪方法  

A multi-target track-before-detect algorithm in the scenario of bearing trajectory crossing

作　　者：郑策 董超 郑兵 陈焱琨 贺惠忠 ZHENG Ce;DONG Chao;ZHENG Bing;CHEN Yankun;HE Huizhong(Key Laboratory of Marine Environmental Survey Technology and Application,Ministry of Natural Resources,Guangzhou 510300;South China Sea Marine Survey Center,Ministry of Natural Resources,Guangzhou 510300;Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai),Zhuhai 519000)

机构地区：[1]自然资源部海洋环境探测技术与应用重点实验室,广州510300 [2]自然资源部南海调查中心,广州510300 [3]南方海洋科学与工程广东省实验室(珠海),珠海519000

出　　处：《声学学报》2024年第5期990-1004,共15页Acta Acustica

基　　金：国家自然科学基金项目(62401171);自然资源部海洋环境探测技术与应用重点实验室自主设立课题(MESTA-2021-D002)资助。

摘　　要：针对传统先检测后跟踪方法在多目标方位历程交叉时存在轨迹中断或者误跟的问题,提出了一种基于广义标签多伯努利滤波的多目标检测前跟踪方法。该算法直接利用声呐基阵接收数据构造的协方差矩阵作为观测,无需波束形成等预处理技术,构建了轨迹新生、消亡、演变及观测过程的概率模型,并通过原理性近似消除了更新步骤的多维积分运算,实现了联合多目标检测、方位跟踪与航迹管理。仿真结果表明,所提算法不仅能够准确估计目标数量,并且在方位历程交叉时也能连续、稳定地的输出多目标方位轨迹,同时在低信噪比(−18 dB)条件下具备较高的跟踪精度。海底线阵试验数据也验证了所提算法性能。Traditional detect-then-track approaches encounter challenges when the bearings of multiple targets occlude each other,leading to trajectory interruption or mismatch.To address this issue,a multi-target track-before-detect algorithm is proposed based on the generalized labeled multi-Bernoulli filtering.This method directly uses the raw data of the array elements as measurement in the form of covariance matrices,without pre-processing such as beamforming.Probabilistic models for trajectory birth,death,evolution,and observation are established.Multidimensional integration in the update step is eliminated by using a theoretical approximation.Joint multi-target detection,bearing tracking,and trajectory management are implemented.Simulation results show that the proposed method can accurately estimate the number of targets and produce consistent trajectories even when the bearings of multiple targets occlude each other.Additionally,it achieves high tracking accuracy under a low signal-to-noise ratio scenario(−18 dB).Sea trial data from seabed linear array also verify the performance of the proposed method.

关 键 词：检测前跟踪 阵列信号处理 方位跟踪 标签随机有限集 广义标签多伯努利滤波 

分 类 号：TB566[交通运输工程—水声工程]